version: 66.04
glider: 5
mission: 7
dive: 178
start: 9 28 109 19 24 17
data:
$ID,5
$MISSION,7
$DIVE,178
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-103601.89
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,191537,6355.537,-1327.396,27,1.7,27,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.3
$GPS2,192326,6355.600,-1327.294,15,1.9,15,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.062,0.238
$KALMAN_X,-51338.3,-124.3,238.1,-201898.5,-2519.0
$KALMAN_Y,-7444.6,549.9,306.1,263988.1,-2469.7
$MHEAD_RNG_PITCHd_Wd,27.2,8439,-14.8,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-40.72,0.000,2,0.000,0.000,416,2152,2456
$GC,63,-1.22,-146.6,2.2,-2.6,2,119,11.27,2.60,-39.60,0.000,4,0.159,0.071,2470,719,3429
$GC,330,-1.16,-146.6,32.0,-14.4,14,335,0.10,2.50,0.00,0.000,6,0.117,0.048,2489,2125,3430
$GC,658,-1.12,-146.6,68.0,-10.0,30,662,0.00,2.58,0.00,0.000,4,0.000,0.065,2489,3544,3430
$GC,702,-1.08,-146.6,72.5,-10.4,32,706,0.00,2.53,0.00,0.000,6,0.000,0.048,2489,2128,3430
$GC,1024,-1.05,-146.6,100.5,-9.4,48,1026,0.12,0.00,0.00,0.000,6,0.098,0.000,2516,2116,3430
$GC,1333,-1.05,-146.6,130.0,-9.6,63,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2115,3430
$GC,1653,-1.05,-146.6,160.9,-9.7,80,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2114,3430
$GC,1965,-1.05,-146.6,193.1,-10.4,100,1970,0.00,2.60,0.00,0.000,4,0.000,0.066,2516,3538,3431
$GC,2016,-1.05,-146.6,198.6,-10.5,103,2020,0.00,2.53,0.00,0.000,6,0.000,0.051,2516,2124,3430
$GC,2335,-1.05,-146.6,232.6,-10.8,123,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2110,3431
$GC,2647,-1.05,-146.6,264.5,-9.9,143,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2110,3430
$GC,2959,-1.05,-146.6,294.4,-9.6,163,2964,0.00,2.62,0.00,0.000,4,0.000,0.068,2516,3544,3430
$GC,2993,-1.05,-146.6,297.6,-9.7,165,2997,0.00,2.53,0.00,0.000,6,0.000,0.054,2517,2137,3430
$GC,3312,-1.05,-146.6,326.5,-9.1,185,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2123,3430
$GC,3624,-1.05,-146.6,354.3,-9.3,205,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2123,3430
$GC,3937,-1.05,-146.6,385.1,-10.2,225,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2123,3430
$GC,4249,-1.05,-146.6,416.1,-9.6,245,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2123,3430
$GC,4561,-1.05,-146.6,444.4,-8.6,265,4566,0.00,2.53,0.00,0.000,4,0.000,0.063,2516,716,3429
$GC,4611,-1.11,-146.6,449.3,-10.3,268,4616,0.00,2.53,0.00,0.000,6,0.000,0.051,2516,2141,3429
$GC,4930,-1.11,-146.6,476.8,-8.4,288,4935,0.00,2.58,0.00,0.000,4,0.000,0.062,2516,719,3429
$GC,4970,-1.16,-146.6,479.9,-8.3,290,4977,0.12,2.53,0.00,0.000,6,0.057,0.051,2481,2143,3429
$GC,5292,-1.13,-146.6,509.3,-8.8,311,5296,0.00,2.58,0.00,0.000,4,0.000,0.063,2480,720,3429
$GC,5388,-1.13,-146.6,518.7,-9.3,316,5395,0.00,2.50,0.00,0.000,6,0.000,0.051,2482,2132,3429
$GC,5710,-1.10,-146.6,547.5,-9.0,337,5715,0.12,2.58,0.00,0.000,4,0.096,0.064,2507,714,3429
$GC,5783,-1.13,-146.6,552.9,-6.5,341,5789,0.00,2.50,0.00,0.000,6,0.000,0.051,2507,2122,3429
$GC,6103,-1.17,-146.6,571.7,-4.1,362,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2122,3429
$GC,6415,-1.17,-146.6,588.9,-5.7,382,6419,0.00,2.55,0.00,0.000,4,0.000,0.065,2507,718,3429
$GC,6472,-1.21,-146.6,592.4,-6.6,385,6479,0.12,2.47,0.00,0.000,6,0.058,0.052,2470,2111,3429
$GC,6794,-1.17,-146.6,609.7,-5.4,406,6799,0.10,2.60,0.00,0.000,4,0.104,0.070,2489,3538,3428
$GC,6845,-1.17,-146.6,613.1,-5.8,409,6850,0.00,2.62,0.00,0.000,6,0.000,0.060,2489,2088,3428
$GC,7164,-1.17,-146.6,631.8,-6.2,429,7168,0.00,2.45,0.00,0.000,4,0.000,0.067,2489,721,3428
$GC,7221,-1.17,-146.6,635.9,-7.4,432,7227,0.00,2.45,0.00,0.000,6,0.000,0.054,2489,2091,3428
$GC,7540,-1.17,-146.6,661.9,-10.6,453,7544,0.00,2.53,0.00,0.000,4,0.000,0.067,2489,709,3428
$GC,7619,-1.22,-146.6,672.2,-12.3,458,7624,0.00,2.42,0.00,0.000,6,0.000,0.055,2489,2066,3427
$GC,7944,-1.22,-146.6,703.1,-12.2,479,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2071,3426
$GC,8257,-1.22,-146.6,724.9,-6.3,499,8261,0.00,2.67,0.00,0.000,4,0.000,0.075,2489,3536,3426
$GC,8273,-1.22,-146.6,726.4,-7.1,500,8278,0.00,2.72,0.00,0.000,6,0.000,0.069,2489,2056,3426
$STATE,8464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8464,begin apogee
$GC,8472,-0.33,0.0,741.3,14.1,512,8605,0.82,0.00,129.45,1.341,6,0.072,0.000,2670,1857,2831
$STATE,8606,end apogee,CONTROL_FINISHED_OK
$STATE,8606,begin climb
$GC,8609,1.22,146.6,747.3,0.0,521,8750,1.55,2.75,130.80,1.292,4,0.058,0.084,3014,445,2233
$GC,8993,1.14,200.5,718.5,6.0,544,9048,0.00,2.55,48.10,1.247,6,0.000,0.056,3014,1861,2013
$GC,9370,1.07,200.5,692.1,12.3,568,9375,0.17,2.65,0.00,0.000,4,0.100,0.077,2978,446,2012
$GC,9387,1.08,246.0,691.1,6.3,569,9433,0.00,2.53,40.50,1.243,6,0.000,0.058,2978,1851,1828
$GC,9760,1.31,390.6,669.0,2.8,593,9893,0.20,2.65,126.28,1.256,4,0.054,0.069,3031,3241,1238
$GC,9910,1.35,413.7,660.7,7.2,602,9937,0.00,2.65,21.73,1.171,6,0.000,0.070,3031,1844,1145
$GC,10262,1.35,439.0,633.8,7.1,625,10294,0.00,2.70,23.75,1.185,4,0.000,0.076,3031,434,1042
$GC,10329,1.30,439.0,627.4,9.1,629,10334,0.00,2.55,0.00,0.000,6,0.000,0.058,3031,1827,1042
$GC,10654,1.26,439.0,587.9,13.8,650,10658,0.00,2.62,0.00,0.000,4,0.000,0.076,3031,430,1042
$GC,10700,1.19,439.0,581.0,15.3,653,10705,0.15,2.53,0.00,0.000,6,0.098,0.056,3003,1823,1042
$GC,11027,1.22,439.0,545.2,11.2,674,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1841,1042
$GC,11337,1.27,439.0,507.4,12.7,694,11341,0.00,2.60,0.00,0.000,4,0.000,0.074,3003,433,1042
$GC,11399,1.32,439.0,499.7,11.6,698,11404,0.15,2.50,0.00,0.000,6,0.056,0.054,3041,1826,1042
$GC,11727,1.27,439.0,446.7,16.2,719,11731,0.00,2.60,0.00,0.000,4,0.000,0.073,3041,432,1042
$GC,11760,1.21,439.0,440.6,16.1,721,11765,0.17,2.45,0.00,0.000,6,0.087,0.052,3006,1799,1042
$GC,12082,1.25,439.0,402.0,11.4,741,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1816,1043
$GC,12392,1.30,439.0,369.1,10.5,761,12396,0.00,2.53,0.00,0.000,4,0.000,0.071,3006,437,1043
$GC,12425,1.33,439.0,365.2,10.4,763,12430,0.12,2.42,0.00,0.000,6,0.055,0.051,3040,1798,1043
$GC,12747,1.30,439.0,322.4,13.7,783,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1814,1043
$GC,13057,1.26,439.0,279.7,13.6,803,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1814,1043
$GC,13370,1.22,439.0,235.0,14.7,823,13375,0.15,2.53,0.00,0.000,4,0.087,0.067,3010,427,1044
$GC,13398,1.22,439.0,230.9,14.3,825,13402,0.00,2.42,0.00,0.000,6,0.000,0.049,3010,1790,1043
$GC,13723,1.27,439.0,194.3,10.3,846,13728,0.00,2.62,0.00,0.000,4,0.000,0.058,3010,3266,1043
$GC,13746,1.36,439.0,191.8,10.9,847,13752,0.15,2.67,0.00,0.000,6,0.051,0.053,3051,1778,1044
$GC,14065,1.30,439.0,148.2,13.7,868,14070,0.12,2.70,0.00,0.000,4,0.091,0.058,3026,3265,1044
$GC,14093,1.30,439.0,144.5,12.3,869,14098,0.00,2.65,0.00,0.000,6,0.000,0.053,3026,1791,1044
$GC,14411,1.30,439.0,105.6,12.9,884,14412,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1791,1045
$GC,14719,1.30,439.0,66.3,12.0,899,14723,0.00,2.65,0.00,0.000,4,0.000,0.057,3026,3256,1045
$GC,14782,1.40,439.0,59.8,11.2,902,14787,0.10,2.60,0.00,0.000,6,0.058,0.051,3056,1798,1045
$GC,15110,1.35,439.0,11.9,15.7,918,15114,0.00,2.45,0.00,0.000,4,0.000,0.066,3056,432,1045
$GC,15132,1.29,439.0,8.5,14.4,919,15137,0.15,2.45,0.00,0.000,6,0.088,0.048,3024,1815,1046
$STATE,15182,end climb,SURFACE_DEPTH_REACHED
$STATE,15183,begin surface coast
$FINISH,0.8,1.027155
$STATE,15205,end surface coast,CONTROL_FINISHED_OK
$STATE,15205,begin surface
$SM_CCo,15289,0.00,0.000,0,0,1045,438.11
$SM_GC,1.57,11.25,0.00,0.00,0.036,0.000,0.000,418,2155,1045,-10.60,0.71,438.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1812
$TCM_TEMP,17.10
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,695.5,55.1
$24V_AH,23.8,31.865
$10V_AH,10.1,14.548
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.250,134.125,520.600,0.000,0.000,37.760,25.889,270.057,21.250,0.000,0.000,15.135,1620.056,10979.924,577.419,1912.087,663.441,33.395,1565.442,0.000,1869.189,0.000,42.956,0.000
$DEVICE_MAMPS,158.769,84.370,1341.483,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.749,671.084,495.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47374,923
$CAP_FILE_SIZE,129394,0
$CFSIZE,254472192,241651712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280909,234024,6357.667,-1327.250,41,1.1,41,-12.7